CN116513237A

CN116513237A - Driving path control method and system for automatic driving automobile

Info

Publication number: CN116513237A
Application number: CN202310458104.6A
Authority: CN
Inventors: 王香岭
Original assignee: Xiangwang Shanghai Network Technology Co ltd
Current assignee: Xiangwang Shanghai Network Technology Co ltd
Priority date: 2023-04-25
Filing date: 2023-04-25
Publication date: 2023-08-01

Abstract

The invention provides a driving path control method and a driving path control system for an automatic driving automobile; wherein the method comprises the following steps: determining a running destination and a target interest point of a user; determining an initial driving route based on the driving destination and the target interest point, and refining a part of routes corresponding to the target interest point in the initial driving route to a lane level so as to obtain a target driving route; and controlling the automatic driving automobile to execute the target driving route. According to the scheme, the in-car personnel can observe the target interest point more conveniently in the automatic driving mode, and riding experience is improved.

Description

Driving path control method and system for automatic driving automobile

Technical Field

The invention relates to the technical field of automatic driving, in particular to a driving path control method, a driving path control system, electronic equipment and a computer storage medium of an automatic driving automobile.

Background

The automatic driving technology enables a driver to greatly reduce driving intensity, and higher road traffic overall traffic efficiency and driving safety can be obtained. The research direction of the prior art on automatic driving mainly focuses on determining a driving path which accords with driving economy and driving safety, but lacks consideration on an object which is interested by passengers in a vehicle around the path, so that the driver who is released/partially released from the driving of the vehicle and the passengers have insufficient riding fun in the automatic driving process.

Disclosure of Invention

In order to at least solve the technical problems in the background art, the invention provides a driving path control method, a driving path control system, electronic equipment and a computer storage medium of an automatic driving automobile.

A first aspect of the present invention provides a travel path control method of an automatically driven automobile, including the steps of:

determining a running destination and a target interest point of a user;

determining an initial driving route based on the driving destination and the target interest point, and refining a part of routes corresponding to the target interest point in the initial driving route to a lane level so as to obtain a target driving route;

and controlling the automatic driving automobile to execute the target driving route.

Further, the determining an initial travel route based on the travel destination and the target point of interest includes:

judging the current driving mode of the automatic driving automobile;

if the driving mode is the first mode, a plurality of preset driving routes corresponding to the driving destination are called, and then the plurality of preset driving routes are screened according to the target interest points so as to obtain the initial driving route;

and if the driving mode is the second mode, generating the initial driving route according to the driving destination, the target interest point and a path planning algorithm.

Further, the determining the driving destination and the target interest point of the user includes:

analyzing the received scheduling information, and judging whether the analysis result contains information related to a driving destination and a target interest point;

if yes, determining the driving destination and the target interest point of the user according to the analysis result; if not, determining the driving destination and the target interest point of the user according to preset information.

Further, the refining the part of the route corresponding to the target interest point in the initial driving route to a lane level to obtain a target driving route includes:

intercepting and obtaining a target refined road section in the initial driving route according to the attribute information of the target interest points, and determining a plurality of candidate lanes of the target refined road section;

calculating an observation convenience evaluation value between each candidate lane and the target interest point based on a high-precision map of the target refined road section;

and screening out target lanes from a plurality of candidate lanes based on the observation convenience evaluation value.

Further, the intercepting the target refined road section in the initial driving route according to the attribute information of the target interest point includes:

determining a visual area of the target interest point according to the attribute information, and calculating a coincidence starting point of the visual area and the initial driving route;

and determining the target refined road section according to the coincident starting point.

Further, the calculating, based on the high-precision map of the target refined road section, the observation convenience evaluation value between each candidate lane and the target interest point includes:

determining first structural data of road facilities associated with each candidate lane according to the high-precision map;

and calculating the visual proportion of the target interest point according to the first structural data and the second structural data of the target interest point, and determining the observation convenience evaluation value based on the visual proportion.

Further, the controlling the autonomous car to execute the target travel route includes:

the automatic driving automobile runs according to the target running route, and obtains running vehicle prediction data associated with the target refined road section when the automatic driving automobile is set to be away from the target refined road section;

rescreening a target lane in the target refined road section based on the traveling vehicle prediction data;

the traveling vehicle prediction data includes a predicted traveling position of each vehicle and vehicle body structure data.

The second aspect of the invention provides a driving path control system of an automatic driving automobile, which comprises a determining module, a processing module and a storage module; the processing module is connected with the determining module and the storage module;

the memory module is used for storing executable computer program codes;

the determining module is used for determining the driving destination and the target interest point of the user and transmitting the driving destination and the target interest point to the processing module;

the processing module is configured to perform the method of any of the preceding claims by invoking the executable computer program code in the storage module.

A third aspect of the present invention provides an electronic device comprising: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method of any one of the preceding claims.

A fourth aspect of the invention provides a computer storage medium having stored thereon a computer program which, when executed by a processor, performs a method as claimed in any one of the preceding claims.

The invention has the beneficial effects that:

in addition to conventional path planning based on a user driving destination and a target interest point, the scheme of the invention refines a local road section associated with the target interest point to a lane level, namely, on the premise of following a driving route, an automatic driving automobile can freely select a proper lane to drive based on real-time road condition information, traffic indication information and the like on the premise of following the driving route, and on the target interest point road section, the automatic driving automobile needs to drive according to a designated lane planned in the target driving route. Therefore, the scheme of the invention can enable the in-vehicle personnel to observe the target interest point more conveniently in the automatic driving mode, and improve the riding experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a driving path control method of an automatic driving automobile according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving path control system of an automatic driving automobile according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, the embodiment of the invention discloses a driving path control method of an automatic driving automobile, which comprises the following steps:

determining a running destination and a target interest point of a user;

Compared with the background art, the scheme of the invention refines the local road section associated with the target interest point to the lane level besides the conventional path planning based on the user driving destination and the target interest point, namely, the automatic driving automobile can freely select a proper lane to drive based on real-time road condition information, traffic indication information and the like on the premise of following the driving route on the non-target interest point road section, and the automatic driving automobile needs to drive according to the designated lane planned in the target driving route when driving on the target interest point road section. Therefore, the scheme of the invention can enable the in-vehicle personnel to observe the target interest point more conveniently in the automatic driving mode, and improve the riding experience.

judging the current driving mode of the automatic driving automobile;

In this embodiment, the automatic driving vehicle may have at least two driving modes described above. The first driving mode may be a sightseeing mode, such as an automatically driven sightseeing vehicle, which may carry a certain number of tourists, sightseeing persons, etc. to travel along a preset route in a city or scenic spot, and in this mode, an initial travel route that is most favorable for observing a target interest point may be selected from a plurality of preset travel routes that pass through a travel destination. The second driving mode may be a conventional driving mode, such as a common self-driving mode, a taxi-like transportation mode, and the like, in which the target interest point is used as a route point, and the route point is connected in series with the driving destination by using a conventional path planning algorithm to obtain the initial driving route.

The preset driving route generally refers to a tourist route planned by a tourist company or other units, such as a sightseeing route for passing through a plurality of scenic spots in a city/scenic spot, and the routes are generally relatively fixed and perform operation according to a certain departure rule; for example, some units may plan a special sightseeing/viewing route for a specific customer, where the route involves a plurality of target points of interest (including the taxi-like delivery mode when the target points of interest are the destination), and such a route may be pre-stored after being generated and may be used subsequently.

It should be noted that an autonomous car suitable for the above purpose may change its driving law, for example, a vehicle a of a tourist company usually carries objective lights according to a preset driving route, and this time is temporarily scheduled to carry special passengers to a unique target interest point to perform a conventional transportation task. When a change in the travel law is detected, it is possible to realize an acquisition manner in which the initial travel route is adjusted based on a change in the driving mode. Obviously, this is very applicable to the scenario where the driving mode change is possible, and it is possible to avoid the human participation in the generation of the initial travel route.

In this embodiment, the autopilot may operate in a conventional mode of operation or may operate in response to real-time scheduling information. In the normal running mode, the automatic driving automobile can traverse the running destination and the target interest point according to a pre-stored running route (i.e. preset information), namely the running destination and the target interest point of the default user are preset contents of the automobile; when new scheduling information is received, the route can be re-planned according to the new driving destination and/or the target interest point, so as to realize traversal driving.

The dispatching information can be sent by a dispatching platform for managing the automatic driving automobile, and can also be input and obtained by a man-machine interaction module on the automatic driving automobile. For example, if the expected driving route of the sightseeing person is different from the preset driving route, the dispatching platform may make a special route and dispatch a certain autopilot to execute, and the sightseeing person may perform man-machine interaction with the specified autopilot to input dispatching information.

In this embodiment, after determining a target refined road section of a target interest point, a plurality of candidate lanes included in the road section may be determined, where the candidate lanes refer to lanes that conform to a driving intention and a driving rule of the lane in the area, for example, when the driving intention of an automatic driving car is straight, three straight lanes in the road section may be used as candidate lanes. Meanwhile, a high-precision map of the road section is called, the high-precision map at least comprises target interest point coverage area and appearance structure data, road side facility structure data and the like, and according to the data, an observation convenience evaluation value of an automatic driving automobile when an in-automobile passenger observes a target interest point during running of different candidate lanes can be calculated, so that a most convenient-to-observe target lane is obtained through screening, and the initial running route is locally refined, and the target running route is obtained.

It should be noted that the target interest point is not necessarily a direct route point in the target travel route, but is more often merely an indirect route point located around the target travel route that can be observed or is convenient to observe.

In this embodiment, the attribute information of the target interest point may include azimuth data, shape structure data, shape size data, and the like, so that a boundary of a maximum visible range or an effective visible range of the target interest point may be determined, and a starting point at which the target interest point may be observed initially and an end point at which the target interest point may no longer be observed may be determined based on a coincidence point of the boundary and the initial driving route, so that the target refined road section may be obtained by intercepting the target refined road section.

Of course, if the target interest point is located in a city area where a large number of other buildings exist around, the high-precision map in the area can be considered at the same time, so that a more accurate overlapping starting point can be determined, and detailed details are not repeated. Obviously, the length of the target refined road segment is positively correlated with the size/height of the target point of interest.

In this embodiment, the observation convenience assessment value is used to characterize the degree of convenience of passengers in an autonomous car when observing target points of interest in different lanes, which is determined mainly by visual scale. For example, after determining high-precision structural data of the road facilities (green belts, guardrails, publicity boards, short walls, newsstand, bridges and the like) and the target points of interest, whether the road facilities are blocked or not can be determined based on whether the connecting line of the lane points and the target points of interest and the road facilities are intersected, the ratio of the upper remaining visible part of the target points of interest to the whole observation surface after the blocking can be calculated, the number of the ratio of the candidate lanes greater than the ratio threshold value at all the sampling points (all or part of the target refined road segments) can be calculated again, the visible ratio of the candidate lanes can be determined, the observation convenience evaluation value can be further determined accordingly, and finally the best candidate lanes can be screened out as the target lanes based on the observation convenience evaluation value of each lane.

Obviously, when an automatic driving automobile runs in lanes with different distances from a target interest point, the actual observation effect of passengers in the automobile on the target interest point is different, especially when road facilities are relatively high, if the automatic driving automobile runs in the near lanes, partial passengers (such as lower passengers of a double-layer vehicle) can hardly observe the target interest point effectively, and at the moment, a relatively long-distance candidate lane can be screened; and on the premise of meeting the visual proportion/observing convenience evaluation value, a candidate lane which is close to the target interest point as much as possible can be selected, so that the observing effect is improved. In addition, when calculating the visual proportion (directly related to the proportion), consideration of structural data of the automatic driving automobile can be increased, and the layout position and the opening degree of the automobile window are mainly related, and detailed description is omitted.

In this embodiment, in the process that the autopilot vehicle travels along the determined target travel path, when the autopilot vehicle will arrive at the target refined road section, vehicle travel data in the target refined road section may be obtained by means of a vehicle-mounted camera, a millimeter wave radar, inter-vehicle communication, and the like, and vehicle travel data of vehicles around the autopilot vehicle and vehicle travel data of other entering road sections that are communicated with the target refined road section. Based on the real-time data, the vehicle distribution situation on each lane and the specific lane position of the target refined road section when the vehicle reaches the target refined road section can be predicted, so that the optimal target lane can be redetermined according to the shielding analysis mode based on the vehicle body structure data of each vehicle. For example, the previously determined target lane is lane 2, but the vehicle B with a larger vehicle body size on lane 3 (which is closer to the target interest point than lane 1) is calculated based on the prediction data of the driving vehicle, so that the vehicle B can influence the observation of the target interest point by the passenger of the vehicle by selecting the farther lane 1 as the target lane, and the determination principle of the lane 1 is the same as the above manner and is not repeated.

The set distance can be determined based on the height of the body of the automatic driving automobile, specifically, the length of the set distance is inversely related to the height of the body of the automatic driving automobile, namely, the shorter the length of the set distance is when the height of the body of the automatic driving automobile is larger, the lower the probability that the large-size automobile is blocked by surrounding vehicles is, and prediction and rescreening can be performed at a nearer distance, so that the accuracy of prediction is improved based on detection data of more 'near time'; and the length of the set distance is longer when the height of the automobile body of the automatic driving automobile is smaller, namely, the accuracy of prediction is improved by acquiring more vehicle driving data at a farther distance, so that the method is beneficial to later screening of more reasonable target lanes.

Referring to fig. 2, the embodiment of the invention also discloses a driving path control system for an automatic driving automobile for implementing the method, which comprises a determining module (101), a processing module (102) and a storage module (103); the processing module (102) is connected with the determining module (101) and the storage module (103);

-said storage module (103) for storing executable computer program code;

the determining module (101) is used for determining the running destination and the target interest point of the user and transmitting the running destination and the target interest point to the processing module (102);

-said processing module (102) for executing the method according to any of the preceding claims by invoking said executable computer program code in said storage module (103).

The embodiment of the invention also discloses an electronic device for realizing the method, which comprises the following steps: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory to perform the method as described in the previous embodiment.

The embodiment of the invention also discloses a computer storage medium, and a computer program is stored on the storage medium, and when the computer program is run by a processor, the computer program executes the method according to the previous embodiment.

The processor in the electronic device of the present invention may perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) or a computer program loaded from a memory into a Random Access Memory (RAM). In RAM, various programs and data required for operation can also be stored. The processor, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.

A plurality of components in an electronic device are connected to an I/O interface, comprising: an input unit such as a keyboard, a mouse, etc.; an output unit such as various types of displays, speakers, and the like; a storage unit such as a magnetic disk, an optical disk, or the like; and communication units such as network cards, modems, wireless communication transceivers, and the like. The communication unit allows the device to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processors include, but are not limited to, central Processing Units (CPUs), graphics Processing Units (GPUs), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, and the like. The processor performs the various methods and processes described above, such as a travel path control method for an autonomous automated driving automobile. For example, in some embodiments, the method of travel path control for an autonomous automated driving vehicle may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as a memory. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device via the ROM and/or the communication unit. When the computer program is loaded into RAM and executed by the processor, one or more steps of the travel path control method of the autonomous driving automatic car described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the travel path control method of the autopilot car in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with passengers, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the passenger; and a keyboard and pointing device (e.g., a mouse or trackball) by which the passenger can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a passenger; for example, feedback provided to the occupant may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the occupant may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a passenger computer having a graphical passenger interface or a web browser through which a passenger can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A travel path control method of an automatically driven automobile, comprising the steps of:

determining a running destination and a target interest point of a user;

2. The travel path control method of an automatically driven automobile according to claim 1, characterized in that: the determining an initial travel route based on the travel destination and the target point of interest includes:

judging the current driving mode of the automatic driving automobile;

3. The travel path control method of an automatically driven automobile according to claim 1, characterized in that: the determining the running destination and the target interest point of the user comprises the following steps:

4. The travel path control method of an automatically driven automobile according to claim 1, characterized in that: the refining the part of the route corresponding to the target interest point in the initial driving route to a lane level to obtain a target driving route includes:

5. The travel path control method of an automatically driven automobile according to claim 4, characterized in that: intercepting the target refined road section in the initial driving route according to the attribute information of the target interest point, wherein the method comprises the following steps:

6. A travel path control method of an automatic driving automobile according to claim 4 or 5, characterized in that: the calculating, based on the high-precision map of the target refined road section, an observation convenience evaluation value between each candidate lane and the target interest point includes:

7. The travel path control method of an automatically driven automobile according to claim 4, characterized in that: the controlling the autonomous vehicle to execute the target travel route includes:

8. A driving path control system of an automatic driving automobile comprises a determining module (101), a processing module (102) and a storage module (103); the processing module (102) is connected with the determining module (101) and the storage module (103);

-said storage module (103) for storing executable computer program code;

-said processing module (102) for executing the method according to any of claims 1-7 by invoking said executable computer program code in said storage module (103).

9. An electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the method is characterized in that: the processor invokes the executable program code stored in the memory to perform the method of any of claims 1-7.

10. A computer storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the method of any of claims 1-7.